Pogosim让Pogobot机器人仿真开发更高效，代码可直接用于真实机器人。
Pogosim -- a Simulator for Pogobot robots
- 基于真实机器人架构的高保真仿真，支持无缝切换
- 同一套代码在仿真与真实机器人上运行无差别
- 支持并行大规模仿真和参数自动优化，适合算法开发者
Pogobots 是一种新型开源硬件机器人，专为集群机器人研究设计，具备低成本、模块化结构，结合振动与轮式移动方式、快速红外通信及丰富软件架构，便于实现集群智能算法。然而，在真实机器人上测试简单分布式算法已十分耗时，复杂问题或参数调优会带来极高资源消耗。本文提出 Pogosim，一个高速可扩展的 Pogobot 仿真器，旨在最大限度降低算法开发成本。仿真与真实机器人使用完全相同的代码。文章详述 Pogosim 的软件架构，介绍配置文件与用户程序编写方法，并说明仿真与实验的近似关系与差异。还介绍了如何并行启动大量仿真、结果收集分析，以及利用优化算法调优用户代码参数。
原文摘要 · Abstract (English)
Pogobots are a new type of open-source/open-hardware robots specifically designed for swarm robotics research. Their cost-effective and modular design, complemented by vibration-based and wheel-based locomotion, fast infrared communication and extensive software architecture facilitate the implementation of swarm intelligence algorithms. However, testing even simple distributed algorithms directly on robots is particularly labor-intensive. Scaling to more complex problems or calibrate user code parameters will have a prohibitively high strain on available resources. In this article we present Pogosim, a fast and scalable simulator for Pogobots, designed to reduce as much as possible algorithm development costs. The exact same code will be used in both simulation and to experimentally drive real robots. This article details the software architecture of Pogosim, explain how to write configuration files and user programs and how simulations approximate or differ from experiments. We describe how a large set of simulations can be launched in parallel, how to retrieve and analyze the simulation results, and how to optimize user code parameters using optimization algorithms.
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